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789 Commits

Author SHA1 Message Date
erwin.coumans
7dd0cbb726 fix OSX compilation 2011-04-15 19:17:34 +00:00
erwin.coumans
1b305562be Added Pierre Terdiman's 'internal object' optimization to improve performance for separating axis tests. 
Make the winding consistent in btConvexHullComputer (and related fixes in btPolyhedralConvexShape), thanks to Ole!
Some fixes in the btPolyhedralContactClipping implementation (never report a penetration deeper than GJK/EPA found, to avoid issues due to its approximate contact normal directions)
Properly visualize btPolyhedralConvexHullShape that have a  btConvexPolyhedron (by calling initializePolyhedralFeatures() method)
 2011-04-15 18:37:28 +00:00
erwin.coumans
9a9a4394ab fix in btParallelConstraintSolver to support double precision 
fixes in SAT/polyhedral contact clipping, avoid adding GJK contacts (the contact margin causes different contact depths)
add polyhedral convex shape in InternalEdgeDemo as example of the new SAT/polyhedral contact clipping (added reference to Manual/what's new)
avoid glueing objecs with contacts that are positive (no gaps)
 2011-04-09 03:40:15 +00:00
erwin.coumans
cdddf9d25a add FractureDemo to AllBulletDemos 
improvements in CCD handling
some cleanup of CcdPhysicsDemo and BasicDemo
 2011-04-09 01:14:21 +00:00
erwin.coumans
e6044a1086 re-enabled m_maxEdgeAngleThreshold and m_edgeDistanceThreshold 2011-04-07 16:46:22 +00:00
erwin.coumans
a4e8213ede Implemented btDiscreteDynamicsWorld::addSpeculativeContacts, using conservative advancement to find contact point ahead of time 
make Extras/ConvexDecomposition thread safe, Issue 501
some improvements to the btInternalEdgeUtility, patch from Issue 501
 2011-04-07 06:23:34 +00:00
erwin.coumans
49630e9c77 improvements in separating axis test / polyhedral clipping support. 
improved debug rendering for polyhedra
allow to dynamically switch between gjk and sat test to compute separating axis (independent from the polyhedral clipping)
 2011-04-07 03:59:14 +00:00
erwin.coumans
624dac6128 Make btParallelConstraintSolver 64-bit ready 
add an optional assert method for the btCollisionDispatcher, to make sure the contact pool is contiguous (needed for btParallelConstraintSolver)
 2011-04-04 22:38:56 +00:00
erwin.coumans
d198451909 clear the applied impulse for constraints (no warmstarting) 
simplify logic, see Issue 499
 2011-04-02 00:44:15 +00:00
erwin.coumans
852fa3ba30 add the BT_ prefix for all #ifdef guards, to avoid conflicts with developers own header defines. 
Fixes Issue 497

//license header
#ifndef BT_RIGIDBODY_H
#define BT_RIGIDBODY_H
class btRigidBody
{
};
#endif //BT_RIGIDBODY_H
 2011-04-01 17:14:52 +00:00
erwin.coumans
b1f21a7e6a Add better support for btCollisionWorld::convexSweepTest for btStaticPlaneShape, now using the btContinuousConvexCollision directly. 
Bugfix in btKinematicCharacterController, using an uninitialized variable
 2011-04-01 16:33:55 +00:00
erwin.coumans
08a93b28f0 re-introduce the radius/epsilon removed in a previous commit, it is necessary for termination. 2011-03-31 21:54:26 +00:00
erwin.coumans
0bef2e7363 Fixes in btContinuousConvexCollision, should fix Issue 347 
Continuous sweeps do not detect hits unless body0 and body1 penetrate more than allowedCcdPenetration.
This is to allow sliding objects (characters) where otherwise any contact would result in TOI = 0.
If objects penetrate deeper than allowedCcdPenetration at the start of the sweep, a TOI=0 is reported, unless the motion will separate the objects.

Secondly, a reportFailure method is added to CastResults, to handle failures gracefully (in case max iterations of conservative advancement is reached etc)
 2011-03-31 21:14:35 +00:00
erwin.coumans
2a856f8c32 add support for clipFaceAgainstHull, so we can clip convex polyhedra against triangles (without connectivity information) 
in addition to the existing clipHullAgainstHull
Fix for debug drawing of contact points
comment-out some debug drawing code for triangle meshes
 2011-03-29 21:58:15 +00:00
erwin.coumans
8847b21eb7 fix for gcc/ubuntu 2011-03-29 09:12:35 +00:00
erwin.coumans
784e7fdb39 Added support for separating axis test for polyhedral shapes 
Added initial support for polyhedral contact clipping. 
This clipping takes a separating normal, that can be computed using either SAT or GJK/EPA.
To enable clipping, use btPolyhedralConvexShape::initializePolyhedralFeatures(); (needs to be enabled for both convex shapes)
No concave trimesh support for SAT/clipping yet. To enable SAT, see the toggle in btConvexConvexAlgorithm.
Fixes in contact normal in btGjkPairDetector. Hopefully this doesn't cause any regression (we need unit tests!)
 2011-03-29 08:52:18 +00:00
erwin.coumans
25b4d8da0b fix path to PE include file 2011-03-15 17:38:03 +00:00
erwin.coumans
7c3db274c2 add support for btScaledBvhTriangleMeshShape serialization (export and import through btBulletWorldImporter) 2011-03-12 20:25:03 +00:00
erwin.coumans
bf90952c12 Fix in aabb computation for a btUniformScalingShape 
Thanks to Flix, see http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=6439
 2011-03-11 00:05:07 +00:00
erwin.coumans
7a9c349a8c enable predictive contact constraints, see BasicDemo 2011-03-05 03:01:44 +00:00
erwin.coumans
fd4ae96697 Performance optimization for btCompoundShape::setLocalScaling 
Thanks to Mirza, See Issue 487

backward compatibility fix for recent improvement in btRaycastVehicle 'rollinfluence'
Thanks to Mihail, See Issue 468
 2011-03-04 20:16:50 +00:00
erwin.coumans
58af9d7569 void->int patch (64bit issue) 
THanks to core13/Nan, See Issue 25
 2011-02-28 17:24:19 +00:00
erwin.coumans
ec1bd45f4f move some of the debug drawing from btCollisionWorld into btIDebugDraw.h, 
this allows the developer to create better looking debug primitives (sphere, capsule, cylinder, cone and plane)
 2011-02-27 06:33:30 +00:00
erwin.coumans
18371e7876 Fix in user collision filtering for btCollisionWorld::rayTestSingle: it was not properly overridden. 
Thanks Paul Dubois, See Issue 397
 2011-02-27 03:52:33 +00:00
erwin.coumans
e5b5126876 Enable rayTest btDbvt (dynamic aabb-tree) acceleration for btCompoundShape 
Thanks to NaN/core13, see Issue 25
 2011-02-26 22:19:00 +00:00
erwin.coumans
48e89d44dc Applied patch from Blender, see https://svn.blender.org/svnroot/bf-blender/trunk/blender/extern/bullet2/uninitialized_stack_vec.patch 
Thanks to Campbell for reporting this
 2011-02-10 21:57:04 +00:00
erwin.coumans
4999fba60e fix some compatibility issues between Bullet / PE / vectormath, introduced a few commits ago 2011-01-07 20:29:34 +00:00
erwin.coumans
9098e82004 BT_USE_DOUBLE_PRECISION was missing from bullet.pc using cmake 
Thanks to Sigluy, see Issue 471

Default constructor for btBvhTriangleMeshShape causes NULL dereference, so removed obsolete constructor.
Thanks to exarkun, see Issue 465
 2011-01-07 17:50:36 +00:00
erwin.coumans
f10846ed7a Added preliminary cmake support for PE branch, Win32 only for now. 2011-01-07 01:48:50 +00:00
erwin.coumans
cb4ae2f3b9 Fixed typo in comment, thanks Exarkun for the report in Issue 464 2010-12-22 00:05:59 +00:00
erwin.coumans
dd7ee6919e serialize btGeneric6DofSpringConstraint 
serialize btSoftBody::Joint
See also Issue 456
 2010-12-16 02:35:44 +00:00
erwin.coumans
f5d2fceb3e Use resize(0) instead of clear() to optimize the btCompoundCollisionAlgorithm 
See Issue 459, thanks to Peter Messmer
 2010-12-13 23:37:25 +00:00
erwin.coumans
c6524b3fb5 fix for re-scaling a btConeShape 
Thanks to promyclon for the report and patch, see Issue 448
 2010-11-18 01:03:42 +00:00
erwin.coumans
98d902b7c1 Propagate the allowed penetration through convex cast against a triangle mesh. 
Thanks for the report and patch to Paul Dubois, Issue 451
 2010-11-18 00:25:04 +00:00
erwin.coumans
c49927b4ed Use cylinder inertia tensor, instead of box, by default. 
See Issue 427

Expose some internal data for constraints,
Thanks to Francois Sugny, see Issue 420
 2010-11-17 23:55:39 +00:00
erwin.coumans
bc3b920995 clarified the comments for set/getting of an OpenGL submatrix 
Thanks to Mihail Isakov, see Issue 452

Fix sleeping/deactivation issue with kinematic objects, see Issue 442
 2010-11-11 22:18:02 +00:00
erwin.coumans
eefffc2cf2 MiniCL and BulletMultiThreaded respect the LIB_SUFFIX 
Thanks to pprkut@liwjatan.at for the report in Issue 436

Remove unimplemented methods in headerfiles,
thanks to csaba.hruska in Issue 437
 2010-10-06 00:59:42 +00:00
erwin.coumans
a061306bd2 fixes in SphereTriangleDetector, needs review/test: 
+ remove obsolete comment and code
+ use contact breaking threshold
 2010-10-02 00:03:01 +00:00
erwin.coumans
fc21378b48 add a fudge factor to avoid degeneracies/failures in the box-box edge-edge separating axis tests. 2010-09-10 20:29:40 +00:00
erwin.coumans
33a41798cf more fixes to the 'make install' feature for both cmake and autotools 
now autotools uses the same library naming as cmake: libBulletSoftBody, libBulletDynamics, libBulletCollision, libLinearMath
cmake doesn't install .svn folders anymore
cmake pkgconfig bullet.pc.cmake 'include' folder fixed (removed /bullet postfix)
added BulletCollision/CollisionShapes/btTriangleInfoMap.h to the install
 2010-09-07 23:40:17 +00:00
erwin.coumans
9086c15e49 Applied patch to avoid "Assert in ClosestConvexResultCallback::addSingleResult", 
Thanks to Paul Dubois for the report and patch, see Issue 396
Also Issue 415
 2010-08-25 19:23:09 +00:00
erwin.coumans
958c705a02 Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp to compile again 
Allow to use convexProcessingThreshold as maximum distance for convex-convex computation (useful for closest distance/point computation)
 2010-08-25 01:28:46 +00:00
erwin.coumans
d2522aefbb added the btCollisionWorld::AllHitsRayResultCallback to collect all ray hits (when using btCollisionWorld::rayTest) 2010-08-23 23:00:34 +00:00
erwin.coumans
844a54a409 Fix broken CDTestFramework 
Avoid crash in BulletWorldImporter, ignoring 'invalid' constraints between two static bodies
Use a bitfield for btCollisionObject::CollisionObjectTypes (to allow custom types that are derived from build-in types such as btRigidBody)
Revert/improve softbody debug rendering
 2010-08-15 20:45:55 +00:00
erwin.coumans
e5b056532e fix issue with Francisco Leon Najera name (code page 949) 
See also Issue 414
 2010-08-10 19:18:12 +00:00
erwin.coumans
4eddfce03e remove some warnings 2010-07-20 23:37:11 +00:00
erwin.coumans
745b3d4e05 fix some warnings, see Issue 400 2010-07-20 01:09:34 +00:00
erwin.coumans
f5e6f87427 implemented patch by Vroonsh to optimize island management with many static objects. 
It can be disabled by commenting out the #define STATIC_SIMULATION_ISLAND_OPTIMIZATION in Bullet/src/BulletCollision/CollisionDispatch/btUnionFind.h

See also Issue 406
 2010-07-20 00:21:52 +00:00
erwin.coumans
e269034494 removed obsolete virtual implementation of 'getUpAxis' in btCylinderShapeZ. It has been replaced by the non-virtual implementation in the base class (for Cell SPU) 
Thanks to Paul Dubois for the report, see Issue 407
 2010-07-16 23:41:29 +00:00
erwin.coumans
b3f081fc85 Added preparation for GPU hardware accelerated solvers for BulletSoftBody (OpenCL and DirectCompute backends will follow) 
Added assert to check for positive masses in btCompoundShape::calculatePrincipalAxisTransform, see Issue 399
Fixes for LLVM/GCC compilation issue in btSequentialImpulseConstraintSolver
(Untested) fix for Linux 64bit compilation Issue 409
 2010-07-16 23:26:25 +00:00